# Obstacle id (vehicle:1-200 pedestrian:201-255 default:0)
int32 obj_id

# Obstacle vailid type (detected this frame:1 older valid:2 default:0)
int8 obj_valid

# Obstacle type (UNKNOWN:0 PEDESTRIAN:1 BICYCLE:2 VEHICLE:3 MOTORCYCLE:4 TRICYCLE:5 CONE:6 ANIMAL:7)
int8 obj_type

# vechile sub type (UNKNOWN:0 CAR:1 BUS:2 TRUCK:3 SPECIAL_VEHICLE:4)
int8 vehicle_sub_type

# pedestrian sub type (UNKNOWN:0 Adult:1 child:2)
int8 pedestrain_sub_type

# pedestrain_orientation (Unknown:0 back:1 front:2 left:3 left_front:4 left_back:5 right:6 right_front:7 right_back:8)
int8 pedestrain_orientation

# Obstacle moving state (UNKNOWN:0 MOVING_EGODIRECTION_DRIVING:1 MOVING_EGODIRECTION_STOPPED:2
#                        MOVING_EGODIRECTION_REVERSING:3 MOVING_ONCOMING:4 MOVING_CROSSING:5 STATIONARY:6)
int8 moving_state

# Obstacle motion intent (UNKNOWN:0 INVLID:1 PASSING:2 PASSING_IN:3 PASSING_OUT:4 CLOSE_CUT_IN:5 MOVING_IN:6
#                        MOVING_OUT:7 LEFT_TURN_AP:8 RIGHT_TRUN_AP:9 PRECEEDING:10 MOVING_SLOW:11)
int8 motion_intent

# track state (UNKNOWN:0 NEW_CREATED:1 COASTED:2 MERGE:3 TRACKED:4)
int8 track_state

# Obstacle probability  (range:0~1, when > 0.06 continuously means high conf obstacle target)
float32 obj_probability

# class confidence (range:0~1)
float32 class_confidence

# Obstacle track confidence (range:0~1)
float32 track_confidence

# Obstacle occluded (not_occluded:1 occluded:2 default:0)
int8 occluded

# Obstacle truncated (range:0~1)
float32 truncated

geometry_msgs/Vector3[] contour_points

# 雷达散射截面，单位dBsm
float32 radar_rcs

# 雷达数据信噪比
float32 radar_snr

# Obstacle 3D Infomation
Rect3D rect3d

# Obstacle relative velocity (uint:m/s)
geometry_msgs/Vector3 velocity

# Obstacle absolute velocity (uint:m/s)
geometry_msgs/Vector3 velocity_world

# Obstacle standard deviation of relative velocity(uint:m/s)
geometry_msgs/Vector3 velocity_std_dev

# Obstacle relative acceleration (uint:m/s/s)
geometry_msgs/Vector3 acc

# Obstacle absolute acceleration (uint:m/s/s)
geometry_msgs/Vector3 acc_world

# Obstacle standard deviation of absolute acceleration (uint:m/s/s)
geometry_msgs/Vector3 acc_std_dev

# Obstacle 2D Infomation
BBox2D box2d

# Obstacle side type (Unknown:0  RearLeft:1  RearCenter:2  RearRight:3  FrontLeft:4  FrontCenter:5  FrontRight:6  LeftCenter:7 RightCenter:8  Center:9)
int8 side_type

# vehicle light type (UNKNOWN:0 BRAKE:1 STRAIGHT:2 TURNLEFT:3 TURNRIGHT:4 BRAKE_TURNLEFT:5
#                     BRAKE_TURNRIGHT:6 BRAKE_STRAIGHT:7 DOUBLE_FLASH:8 BRAKE_DOUBAL_FLASH:9)
uint8 vehicle_light_type

# 车轮接地点个数
int32 wheel_n

# 车轮接地点位置
geometry_msgs/Point[] wheel_position

# 前后轮标志
int8[] wheel_flag

# Obstacle age:0-65535
int32 obj_age

# ObstacleTTC (range:0~10 uint:s)
float32 obj_ttc

# Obstacle cutin flag (not_cut_in:0  cut_in:0  close_cut_in:2)
int8 cutin_flag

# 障碍物最近的锥体到主机车道线中心的横向相对距离。正表示车辆现在不在主机车道，负表示车辆已进入主机车道(uint:m)
float32 cutin_distance

# CIPV flag (not_CIPV:0  CIPV:1)
#int8 is_CIPV
int8 is_cipv

# MCP flag (not_MCP:0  MCP:1)
#int8 is_MCP
int8 is_mcp

# lane id (unknown:127,left_left:1  left:2  host:0  right:-1  right_right:-2)
int8 lane_id
